CN101722509B

CN101722509B - Electrical connection integrated mechanism for locking space

Info

Publication number: CN101722509B
Application number: CN2009100732973A
Authority: CN
Inventors: 刘伊威; 谭益松; 刘宏; 王滨
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2009-11-30
Filing date: 2009-11-30
Publication date: 2011-01-26
Anticipated expiration: 2029-11-30
Also published as: CN101722509A

Abstract

The invention discloses an electrical connection integrated mechanism for locking space, relates to a space connecting mechanism, and aims to solve the problems that the conventional manipulator can only meet the requirement of the rigidity required by small loading connection and the manipulator has no electrical connecting mechanism. A dragging device, a capturing device and a cam positioning ring on a cam positioning device are orderly arranged in an inner cavity of a support cylinder from the bottom to the top; three steel wire ropes are contacted with a capturing cone; a positioning cam which is arranged on a capturing interface device is arranged in a positioning groove; four locking mechanisms are uniformly distributed outside the support cylinder; a support body of each locking mechanism is fixedly connected with the outer side wall of the support cylinder; a rack wheel which is engaged with an outer gear and a driving gear on the four locking mechanisms is arranged at the lower end of the support cylinder; the driving gear is connected with a third harmonic reducer which is connected with a third brushless DC motor; and an electrical plug is arranged in each locking groove. The electrical connection integrated mechanism is used for capturing a space loading cabin under an environment with big space tolerance and microgravity.

Description

Electrical connection integrated mechanism for locking space

Technical field

The present invention relates to a kind of space and be electrically connected mechanism.

Background technology

Coupling stiffness between space large-scale manipulator and the load cabin is the important component part of spatial operation technical development with being electrically connected.At present, the space manipulator of domestic manipulator such as Beijing space flight and aviation university, the design of Hefei intelligence research institute of the Chinese Academy of Sciences is merely able to satisfy little load (tens of kilogram) and connects needed rigidity, and manipulator itself does not have and is electrically connected mechanism, need the astronaut to operate out of my cabin and could realize being electrically connected, this has limited the development of space manipulator technology greatly.

Summary of the invention

The objective of the invention is to connect needed rigidity for solution existing machinery hand is merely able to satisfy little load (tens of kilogram), and manipulator self does not have and is electrically connected mechanism, finish being electrically connected the problem that needs the astronaut to operate out of my cabin, a kind of electrical connection integrated mechanism for locking space is provided.

The present invention includes and catch interface arrangement, acquisition equipment, actuator, support cylinder, the manipulator flange, cam positioning apparatus, four locking mechanisms, gear wheel, driven wheel, the third harmonic decelerator, the 3rd dc brushless motor, the 3rd electromagnetic brake and electric connector, described actuator, cam orientation ring on acquisition equipment and the cam positioning apparatus is successively set in the inner chamber of support cylinder from the bottom to top, the manipulator flange is connected with the lower surface of support cylinder, catch interface arrangement and be positioned at the top of the cam orientation ring on the cam positioning apparatus, and three steel wire ropes on the acquisition equipment touch with the tapered joint of catching of catching on the interface arrangement, being installed in the positioning cam of catching on the interface arrangement is arranged in the locating slot on the cam orientation ring, four locking mechanisms are distributed on outside the support cylinder, and the upper end lateral wall of arc surface on the supporter on each locking mechanism and support cylinder is affixed, gear wheel is packed in the lower end of support cylinder, and gear wheel simultaneously with four locking mechanisms on external tooth and driven wheel engagement, driven wheel is arranged on the output of third harmonic decelerator, the input of third harmonic decelerator is connected with the output of the 3rd dc brushless motor, the 3rd electromagnetic brake is arranged on the input of the 3rd dc brushless motor, the 3rd dc brushless motor is packed on the lateral wall of support cylinder, catches an electric connector is housed in each lock slots on the interface arrangement.

The present invention has the following advantages: one, the present invention utilizes three flexible wire ropes on the acquisition equipment 2, realizes opening of steel wire rope or closed by rotating ring with respect to the rotation of retainer ring, and then the catching of load cabin, implementation space; The present invention utilizes the ball-screw on the actuator and the transmission of ball nut that load cabin, space is further dragged to the support cylinder direction, three positioning cams on cam positioning apparatus are with when three locating slots tightly cooperate, and have realized the accurate location and reliably being connected of the assembly of catching interface arrangement and acquisition equipment, actuator, support cylinder and manipulator flange on the load cabin, space; The present invention utilizes four lock pawl lock acquisition interface arrangements on the locking mechanism, increased the coupling stiffness of the assembly of catching interface arrangement and acquisition equipment, actuator, support cylinder and manipulator flange, thereby guarantee the safety significant operations in load cabin, space, improve the success rate and the accuracy rate of spatial operation; After finishing lock operation, utilizing electrical outlets and electric connector to finish is electrically connected, load cabin, implementation space is communicated with the energy and the control signal of acquisition equipment, actuator, support cylinder, manipulator flange and four locking mechanisms, be transformed into associated working by simple catching veritably, do not need the astronaut to operate out of my cabin and can realize being electrically connected, realized integrated operation.Two, the present invention have the quality of catching big (＞40t), the body quality is little, connects the precision advantages of higher, will bring into play enormous function in the space manipulator field.

Description of drawings

Fig. 1 is an overall structure stereogram of the present invention; Fig. 2 is an integral outer structural front view of the present invention; Fig. 3 is the A-A cutaway view of Fig. 2; Fig. 4 is the B-B cutaway view of Fig. 3; Fig. 5 is the structural perspective of straight support body 7-1; Fig. 6 is the structural perspective of riser 7-14; Fig. 7 is the structural perspective of electrical outlets frame 7-7; Fig. 8 is the structural perspective of lock pawl 7-16; Fig. 9 is the syndeton stereogram of leading screw 7-3, receptacle holders supporter 7-5, electrical outlets frame 7-7, electrical outlets 7-8, the second linear potentiometers 7-21 and linear potentiometers brush 7-22; Figure 10 is syndeton master's cutaway view of catching interface arrangement 1, acquisition equipment 2, actuator 3, support cylinder 4, manipulator flange 5 and cam positioning apparatus 6; Figure 11 is syndeton master's cutaway view of catching interface arrangement 1 and acquisition equipment 2; Figure 12 is the structural perspective of drawing torque sensor 3-9; Figure 13 is the structural perspective of catching interface arrangement 1; Figure 14 is six redundant plane sense switch assemblies 17, cam positioning apparatus 6 and support cylinder 4 link position stereograms; Figure 15 is the structural perspective of redundant plane sense switch assembly 17; Figure 16 is the structural perspective (removing contact-making switch cover 7-6) of redundant plane sense switch assembly 17; Figure 17 is that rotating ring 2-9 on the acquisition equipment 2 is not when rotating, three steel wire rope 2-10 are with respect to the state diagram of catching awl 1-2 position, Figure 18 is under the drive of rotating ring 2-9, three steel wire rope 2-10 draw and contact the state diagram of catching awl 1-2 position in, Figure 19 is that three steel wire rope 2-10 enwind the state diagram of catching awl 1-2, Figure 20 is a fundamental diagram of the present invention, promptly catch interface arrangement 1 and just be hunted down after device 2 catches, the upper surface of catching interface arrangement 1 and support cylinder 4 exists the bigger displacement and the state diagram of angular error; Figure 21 is a fundamental diagram of the present invention, and promptly three steel wire rope 2-10 lock acquisition interface arrangements 1 have dwindled the state diagram of the error between the upper surface of catching interface arrangement 1 and support cylinder 4; Figure 22 is a fundamental diagram of the present invention, catches interface arrangement 1 under the effect of actuator 3 and cam positioning apparatus 6, catches the state diagram that the error between the upper surface of interface arrangement 1 and support cylinder 4 is eliminated fully; Figure 23 is the fundamental diagram (locking mechanism 7 is in not duty) of locking mechanism 7, and Figure 24 is the fundamental diagram (locking mechanism 7 enters the state among the lock slots 1-1-1 that catches on the interface arrangement 1) of locking mechanism 7, the fundamental diagram (locking mechanism 7 is stuck in the state among the lock slots 1-1-1 that catches on the interface arrangement 1) that Figure 25 is locking mechanism 7; Figure 26 is that the assembly with acquisition equipment 2, actuator 3, support cylinder 4 and manipulator flange 5 is installed on the mechanical arm 11, catches interface arrangement 1 and is installed on installation site figure on the load cabin, space 10.

The specific embodiment

The specific embodiment one: in conjunction with Fig. 1, Fig. 2 and Figure 13 illustrate present embodiment, present embodiment comprises catches interface arrangement 1, acquisition equipment 2, actuator 3, support cylinder 4, manipulator flange 5, cam positioning apparatus 6, four locking mechanisms 7, gear wheel 8, driven wheel 9, third harmonic decelerator 13, the 3rd dc brushless motor 14, the 3rd electromagnetic brake 15 and electric connector 16, described actuator 3, cam orientation ring 6-1 on acquisition equipment 2 and the cam positioning apparatus 6 is successively set in the inner chamber of support cylinder 4 from the bottom to top, manipulator flange 5 is connected by the lower surface of connector with support cylinder 4, catch interface arrangement 1 and be positioned at the top of the cam orientation ring 6-1 on the cam positioning apparatus 6, and three steel wire rope 2-10 on the acquisition equipment 2 contact with the awl 1-2 that catches on catching interface arrangement 1, being installed in the positioning cam 6-2 that catches on the interface arrangement 1 is arranged among the locating slot 6-1-1 on the cam orientation ring 6-1, four locking mechanisms 7 are distributed on outside the support cylinder 4, and the arc surface 7-1-1 on the supporter 7-1 on each locking mechanism 7 and the upper end lateral wall of support cylinder 4 are affixed, gear wheel 8 is packed in the lower end of support cylinder 4 by bearing, and gear wheel 8 simultaneously with four locking mechanisms 7 on external tooth 7-4-2-1 and driven wheel 9 engagements, driven wheel 9 is arranged on the output of third harmonic decelerator 13, the input of third harmonic decelerator 13 is connected with the output of the 3rd dc brushless motor 14, the 3rd electromagnetic brake 15 is arranged on the input of the 3rd dc brushless motor 14, the 3rd dc brushless motor 14 is packed on the lateral wall of support cylinder 4 by connector, catches among each the lock slots 1-1-1 on the interface arrangement 1 electric connector 16 is housed.The model of the 3rd electromagnetic brake 15 is KEB COMBIPERM, and the 3rd electromagnetic brake 15 plays the outage locking.The model of the 3rd dc brushless motor 14 is Kit Frameless; The model of third harmonic decelerator 13 is HFUS-20-80-2SO, and speed reducing ratio is 80.The number of teeth of driven wheel 9 is 17, modulus is 2, and the number of teeth of gear wheel 8 is 272, modulus is 2.

The specific embodiment two: present embodiment is described in conjunction with Fig. 2～Fig. 9, each locking mechanism 7 of present embodiment is by straight support body 7-1, linear bearing 7-2, leading screw 7-3, leading screw drives assembly 7-4, receptacle holders supporter 7-5, clamp nut 7-6, electrical outlets frame 7-7, electrical outlets 7-8, two first bearing pin 7-9, two first pulley 7-10, guide rod 7-11, locking torque sensor 7-12, buffer spring 7-13, two riser 7-14, two second bearing pin 7-15, two lock pawl 7-16, two the 3rd bearing pins, two the 3rd pulleys, two back-moving spring 7-19, two the 6th bearing pin 7-20, the second linear potentiometers 7-21 and linear potentiometers brush 7-22 form, straight support body 7-1 and support cylinder 4 opposing end faces are provided with and the corresponding to arc surface 7-1-1 of the external diameter of support cylinder 4, the arc surface 7-1-1 outside on the straight support body 7-1 is provided with flange 7-1-2, the upper surface of flange 7-1-2 is provided with groove 7-1-3, the upper surface of the flange sidewall of groove 7-1-3 both sides is provided with inclined-plane 7-1-5, the both sides end face of flange 7-1-2 is provided with guide-track groove 7-1-4, the bottom face of groove 7-1-3 is provided with linear bearing hole 7-1-5, linear bearing 7-2 is arranged among the 7-1-5 of linear bearing hole, leading screw 7-3 is arranged in the centre bore on the linear bearing 7-2, the centre bore that receptacle holders supporter 7-5 is passed in the upper end of leading screw 7-3 is threaded with clamp nut 7-6, the lower end of the upper end of receptacle holders supporter 7-5 and electrical outlets frame 7-7 is affixed by connector, the upper surface of electrical outlets frame 7-7 is provided with electrical outlets groove 7-7-1, electrical outlets 7-8 is installed among the electrical outlets groove 7-7-1, the two ends of electrical outlets frame 7-7 are respectively equipped with the first pin shaft hole 7-7-2, among each first pin shaft hole 7-7-2 one first bearing pin 7-9 is housed, on each first bearing pin 7-9 one first pulley 7-10 is housed, guide rod 7-11 is sleeved on the middle part of leading screw 7-3, the lower end of guide rod 7-11 is arranged in the centre bore on the locking torque sensor 7-12, buffer spring 7-13 is sleeved on the guide rod 7-11, the upper end of each riser 7-14 is provided with the second pin shaft hole 7-14-1, the riser 7-14 of second pin shaft hole 7-14-1 below is provided with the 6th pin shaft hole 7-14-2, the riser 7-14 that is positioned at the 6th pin shaft hole 7-14-2 below is provided with guide rail 7-14-3, two riser 7-14 are symmetricly set on the both sides of supporter 7-1, and the guide rail 7-14-3 on the riser 7-14 is arranged among the guide-track groove 7-1-4 on the straight support body 7-1 corresponding with it, guide rail 7-14-3 slides up and down along guide-track groove 7-1-4, the lower surface of each riser 7-14 is connected by connector with the upper surface of locking torque sensor 7-12, two lock pawl 7-16 are symmetrical arranged, and the second pin shaft hole 7-16-2-3 on each lock pawl 7-16 is connected by one second bearing pin 7-15 with the second pin shaft hole 7-14-1 on the riser 7-14, the 4th bearing pin 7-16-5 below on each lock pawl 7-16 is furnished with a back-moving spring 7-19, and the upper end of each the back-moving spring 7-19 four bearing pin 7-16-5 corresponding with it connects, the lower end of each the back-moving spring 7-19 six bearing pin 7-20 corresponding with it connects, the lower end of leading screw 7-3 is arranged on leading screw and drives among the assembly 7-4, and leading screw 7-3 is threaded with the feed screw nut 7-4-1 that leading screw drives on the assembly 7-4, the second linear potentiometers 7-21 is arranged in the groove 7-1-3, and the second linear potentiometers 7-21 is packed on the straight support body 7-1 by connector, linear potentiometers brush 7-22 is arranged between the second linear potentiometers 7-21 and the receptacle holders supporter 7-5, and linear potentiometers brush 7-22 is packed on the receptacle holders supporter 7-5 by connector, the brush second linear potentiometers 7-21 contact of linear potentiometers brush 7-22.The second linear potentiometers 7-21 is in order to detect the position of locking mechanism 7, and its model is MBW100, and its straight line resolution ratio can obtain 0.01mm, has higher certainty of measurement and repeatable accuracy.The model of leading screw 7-3 is SFU1605-4, and helical pitch is 5mm.The model of linear bearing 7-2 is LM16LUU.Other composition and annexation are identical with the specific embodiment one.

The specific embodiment three: present embodiment is described in conjunction with Fig. 8, each lock pawl 7-16 of present embodiment is by dewclaw 7-16-1, two lower claw 7-16-2, the 3rd pulley 7-16-3, the 3rd bearing pin 7-16-4, the 4th bearing pin 7-16-5, two the 5th bearing pin 7-16-6 and two the 5th pulley 7-16-7 form, the lower end of each lower claw 7-16-2 is provided with the 5th pin shaft hole 7-16-2-1, each lower claw 7-16-2 below is provided with the 5th pulley groove 7-16-2-2, the upper end of each lower claw 7-16-2 is provided with the second pin shaft hole 7-16-2-3, two lower claw 7-16-2 are set in parallel in the below of dewclaw 7-16-1, and the second pin shaft hole 7-16-2-3 on two lower claw 7-16-2 over against, the 5th pin shaft hole 7-16-2-1 on two lower claw 7-16-2 over against, dewclaw 7-16-1 and two lower claw 7-16-2 make one, the 5th pulley groove 7-16-2-2 place of each lower claw 7-16-2 is provided with one the 5th pulley 7-16-7, each the 5th pulley 7-16-7 is contained on the 5th bearing pin 7-16-6 corresponding with it, the two ends of the 5th bearing pin 7-16-6 are arranged among the 5th pin shaft hole 7-16-2-1 corresponding with it, dewclaw 7-16-1 goes up a side end face relative with the first pulley 7-10 and is provided with and the corresponding to first pulley groove 7-16-1-1 of the wheel cambered surface of the first pulley 7-10, the upper end of dewclaw 7-16-1 is provided with the 3rd pulley groove 7-16-1-2, be respectively equipped with the 3rd pin shaft hole 7-16-1-3 on the dewclaw 7-16-1 of the 3rd pulley groove 7-16-1-2 both sides, the 3rd pulley 7-16-3 is contained on the 3rd bearing pin 7-16-4, the two ends of the 3rd bearing pin 7-16-4 are separately positioned among the 3rd pin shaft hole 7-16-1-3 of the 3rd pulley groove 7-16-1-2 both sides, the lower end of dewclaw 7-16-1 is provided with open slot 7-16-1-4, be respectively equipped with the 4th pin shaft hole 7-16-1-5 on the dewclaw 7-16-1 of open slot 7-16-1-4 both sides, the two ends of the 4th bearing pin 7-16-5 are separately positioned among the 4th pin shaft hole 7-16-1-5 of open slot 7-16-1-4 both sides.Other composition and annexation are identical with the specific embodiment two.

The specific embodiment four: present embodiment is described in conjunction with Fig. 3 and Fig. 4, the leading screw of present embodiment drives assembly 7-4 and is made up of feed screw nut 7-4-1, gear shaft 7-4-2 and shell 7-4-3, gear shaft 7-4-2 is positioned at the below of feed screw nut 7-4-1, and gear shaft 7-4-2 and feed screw nut 7-4-1 are affixed, gear shaft 7-4-2 is provided with external tooth 7-4-2-1, and the assembly of gear shaft 7-4-2 and feed screw nut 7-4-1 is arranged among the shell 7-4-3 by bearing.Other composition and annexation are identical with the specific embodiment two or three.

The specific embodiment five: in conjunction with Figure 10, Figure 11 and Figure 13 illustrate present embodiment, present embodiment catch interface arrangement 1 by catching interface board 1-1, catch awl 1-2, catch flange 1-3, catch guiding lamp 1-4 and three connecting pin 1-5 compositions, the upper end of catching awl 1-2 with catch flange 1-3 and be connected, catch flange 1-3 and be vertically set on the lower end of catching interface board 1-1 with the assembly of catching awl 1-2, and it is affixed with the lower surface of catching interface board 1-1 by connector to catch flange 1-3, catch guiding lamp 1-4 and be installed on the lower end of catching awl 1-2, at least three uniform being arranged on the upper surface of catching interface board 1-1 of connecting pin 1-5, catch on the lower surface of interface board 1-1 and be laid with four lock slots 1-1-1, and four lock slots 1-1-1 and four locking mechanisms 7 one by one over against.Catching guiding lamp 1-4 rises and catches guiding function.Catching interface arrangement 1 is connected with load cabin 10 by at least three connecting pin 1-5.Other composition and annexation are identical with the specific embodiment four.

The specific embodiment six: present embodiment is described in conjunction with Figure 11; The acquisition equipment 2 of present embodiment is by the second dc brushless motor 2-1; Second harmonic decelerator 2-2; Pinion 2-3; Internal gear 2-4; Catch torque sensor 2-5; Thin-wall bearing 2-6; Connecting ring 2-7; Retainer ring 2-8; Rotating ring 2-9; Three steel wire rope 2-10; Rotating shaft 2-11; Catch support tube 2-12; The second electromagnetic brake 2-13 and connecting cylinder 2-20 form; The second electromagnetic brake 2-13 is arranged on the input of the second dc brushless motor 2-1; The input of second harmonic decelerator 2-2 is connected with the output of the second dc brushless motor 2-1; The second dc brushless motor 2-1 and second harmonic decelerator 2-2 are arranged on the bottom of catching support tube 2-12 inner chamber; And the second dc brushless motor 2-1 is packed on the inwall of catching support tube 2-12 by connector; Firm wheel on the second harmonic decelerator 2-2 is affixed with the sidewall of catching support tube 2-12 by connector; Pinion 2-3 is installed on the output of second harmonic decelerator 2-2; Pinion 2-3 and internal gear 2-4 engagement; The upper surface of internal gear 2-4 is affixed with the lower surface of catching torque sensor 2-5; The upper end of catching torque sensor 2-5 is arranged in the interior ring centre bore on the thin-wall bearing 2-6; Outer shroud on the thin-wall bearing 2-6 is arranged in the centre bore of connecting ring 2-7; The upper surface of connecting ring 2-7 is affixed by connector and retainer ring 2-8; The assembly of connecting ring 2-7 and retainer ring 2-8 is arranged on the top of catching support tube 2-12 inner chamber; And connecting ring 2-7 by connector with to catch support tube 2-12 sidewall affixed; The lower surface of retainer ring 2-8 is provided with rotating ring mounting groove 2-8-1; Among the rotating ring mounting groove 2-8-1 rotating ring 2-9 is housed; And the lower end of rotating ring 2-9 is affixed with the upper surface of catching torque sensor 2-5; Three steel wire rope 2-10 are distributed in the inner chamber of retainer ring 2-8 and rotating ring 2-9; And the end of every steel wire rope 2-10 and the inwall of retainer ring 2-8 are affixed; The other end of every steel wire rope 2-10 is connected with rotating ring 2-9 by rotating shaft 2-11; The cone 1-2 that catches that catches on the interface arrangement 1 is connected with three steel wire rope 2-10, and connecting cylinder 2-20 is connected with the lower surface of catching torque sensor 2-5 by connector. The model of the second electromagnetic brake 2-13 is KEB COMBIPERM, and the second electromagnetic brake 2-13 can lock whole acquisition equipment 2 when capture movement is finished, and prevents to catch interface arrangement 1 and escapes.Pinion 2-3 and internal gear 2-4 engaged transmission are as the transmission mechanism of catching three steel wire rope 2-10; Three steel wire rope 2-10 are as the executing agency that catches; The second dc brushless motor 2-1 and second harmonic decelerator 2-2 are as the driving mechanism of catching; When rotating ring 2-9 did not have the angular deflection amount with respect to retainer ring 2-8, three steel wire rope 2-10 were in maximum deployed condition, see Figure 17; Draw contact in and catch awl 1-2 when rotating ring 2-9 rotates and drive three steel wire rope 2-10 with driving mechanism, produce contact force F catching on the awl 1-2, under the effect of contact force F, catch progressively convergence acquisition equipment 2 central authorities of interface arrangement 1, see Figure 18; When rotating ring 2-9 was in the maximum angle skew with respect to retainer ring 2-8, three steel wire rope 2-10 were in minimum rounding state, see Figure 19.The model of the second dc brushless motor 2-1 is Kit Frameless; The model of second harmonic decelerator 2-2 is HFUS-20-80-2SO; The number of teeth of pinion 2-3 is 17, modulus is 2; The number of teeth of internal gear 2-4 is 182, modulus is 2; Catch torque sensor 2-5 and adopt the torque sensor measurement that constitutes by strain beam and foil gauge to catch the size of power, realize the closed-loop control of system; The model of thin-wall bearing 2-6 is CNG120BCA1, and thin-wall bearing 2-6 has increased the capture range of system.Other composition and annexation are identical with the specific embodiment five.

The specific embodiment seven: present embodiment is described in conjunction with Figure 10 and Figure 12, the actuator 3 of present embodiment is by the first dc brushless motor 3-1, first harmonic decelerator 3-2, driving gear 3-3, driven gear 3-4, ball-screw 3-5, leading screw flange 3-6, ball nut 3-7, compression spring 3-8, drawing torque sensor 3-9, the first electromagnetic brake 3-10, three guide assembly 3-11 and linear potentiometers 3-12 form, the first electromagnetic brake 3-10 is arranged on the input of the first dc brushless motor 3-1, the input of first harmonic decelerator 3-2 is connected with the output of the first dc brushless motor 3-1, the first dc brushless motor 3-1 is packed on the inwall of support cylinder 4 by connector, firm wheel on the first harmonic decelerator 3-2 is connected with the first dc brushless motor 3-1 lower end by connector, driving gear 3-3 is installed on the output of first harmonic decelerator 3-2, driving gear 3-3 and driven gear 3-4 engagement, driven gear 3-4 is installed on the input of ball-screw 3-5, the lower end of ball-screw 3-5 is arranged among the leading screw flange 3-6 by bearing, leading screw flange 3-6 is connected by the inwall of connector with support cylinder 4, ball nut 3-7 is threaded with ball-screw 3-5, compression spring 3-8 is sleeved on the ball nut 3-7, strain beam support tube 3-9-1 on the drawing torque sensor 3-9 is sleeved on the compression spring 3-8, and the strain beam support tube 3-9-1 on the drawing torque sensor 3-9 is connected with ball nut 3-7 by connector, the upper end of ball-screw 3-5 is connected with connecting cylinder 2-20 on the acquisition equipment 2 by bearing, the outside end face of three strain beam 3-9-2 on the drawing torque sensor 3-9 is connected with the inwall of catching support tube 2-12 on the acquisition equipment 2, the axis of three guide assembly 3-11 and support cylinder 4 be arranged in parallel, and three uniform outer wall places that catch support tube 2-12 that are arranged on the acquisition equipment 2 of guide assembly 3-11, each guide assembly 3-11 is by last linear bearing 3-11-1, following linear bearing 3-11-2, top base 3-11-3, bottom base 3-11-4 and guide rail 3-11-5 form, the upper end of guide rail 3-11-5 is passed the centre bore on the linear bearing 3-11-1 and is arranged in the centre bore on the top base 3-11-3, the lower end of guide rail 3-11-5 is passed down the centre bore on the linear bearing 3-11-2 and is arranged in the centre bore on the bottom base 3-11-4, last linear bearing 3-11-1 on each guide assembly 3-11 and following linear bearing 3-11-2 are connected with the outer wall of catching support tube 2-12 on the acquisition equipment 2 respectively, and the top base 3-11-3 on each guide assembly 3-11 is connected with the inwall of support cylinder 4 respectively with bottom base 3-11-4; The model of last linear bearing 3-11-1 and following linear bearing 3-11-2 is LM10LUU.Be uniformly distributed along the circumference three go up linear bearing 3-11-1 and three following linear bearing 3-11-2 as the supporting mechanism of actuator 3, have the advantage that staring torque is little, friction is little, transmission is stable; Drawing torque sensor 3-9 is made up of strain beam support tube 3-9-1, three strain beam 3-9-2 and three full-bridge foil gauge 3-9-3, three strain beam 3-9-2 are uniform to be arranged on the external diameter of strain beam support tube 3-9-1, be pasted with a full-bridge foil gauge 3-9-3 on the upper surface of three strain beam 3-9-2, every group of full-bridge foil gauge 3-9-3 is used for detecting the strain of the strain beam 3-9-2 corresponding with it, drawing torque sensor 3-9 can effectively detect the size of drawing force, realize the closed-loop control of manipulator, and can detect the unbalance loading situation of plus load; Linear potentiometers 3-12 is packed on the outer wall of catching support tube 2-12 on the acquisition equipment 2 by connector.The model of linear potentiometers 3-12 is MBW150, and its straight line resolution ratio of the potentiometer of this model can reach 0.01mm, has higher certainty of measurement and repeatable accuracy.Linear potentiometers 3-12 drags the measuring instrument of state as actuator 3, can real time reaction goes out the position that drags of actuator 3.Ball-screw 3-5 and ball nut 3-7 transmission be as the transmission mechanism of actuator 3, has that staring torque is little, friction is little, a stable drive, the advantage that is difficult for creeping.The first electromagnetic brake 3-10 guarantees still can keep the state of dragging later at system cut-off as the locking mechanism that drives actuator 3.The model of the first electromagnetic brake 3-10 is KEB COMBIPERM, the first electromagnetic brake 3-10 is as the locking mechanism of actuator 3, guarantee after actuator 3 outages, still can keep lock-out state, the first electromagnetic brake 3-10 can be when dragging mobile finishing, locking actuator 3.The model of the first dc brushless motor 3-1 is KitFrameless, and the model of first harmonic decelerator 3-2 is HFUS-20-80-2SO, utilizes the first dc brushless motor 3-1 and the first harmonic decelerator 3-2 driving mechanism that drags as actuator 3.The number of teeth of driving gear 3-3 and driven gear 3-4 is 48, modulus is 2.The model of ball-screw 3-5 is SFU3210-4, and pitch is 10mm.Compression spring 3-8 has effectively reduced the impact of actuator 3 in the process of dragging.Other composition and annexation are identical with the specific embodiment six.

The specific embodiment eight: present embodiment is described in conjunction with Figure 10, Figure 13 and Figure 14, the cam positioning apparatus 6 of present embodiment is made up of cam orientation ring 6-1 and three positioning cam 6-2, be laid with three locating slot 6-1-1 on the end face of cam orientation ring 6-1, be furnished with a positioning cam 6-2 among each locating slot 6-1-1, the root of each positioning cam 6-2 is packed in catches catching on the flange 1-3 on the interface arrangement 1.Three positioning cam 6-2 are close to cam orientation ring 6-1 under actuator 3 effects, and three positioning cam 6-2 cooperate with locating slot 6-1-1 on the cam orientation ring 6-1, have realized catching the accurate location of interface arrangement 1 and support cylinder 4.Other composition and annexation are identical with the specific embodiment seven.

The specific embodiment nine: in conjunction with Figure 10, Figure 15 and Figure 16 illustrate present embodiment, present embodiment and the specific embodiment eight are different is that it also increases by six redundant plane sense switch assemblies 17 are arranged, redundant plane sense switch assembly 17 is by switch supporting seat 17-1, two switch spring 17-2, conduct electricity long semi-ring 17-3, two conduction 1/2nd long semi-ring 17-4, two contact-making switch cap 17-5 and contact-making switch cover 17-6 form, two conduction 1/2nd long semi-ring 17-4 are symmetrical arranged and form length with the long semi-ring 17-3 of conduction and encircle, two switch spring 17-2 are vertically set on respectively on the upper surface of switch supporting seat 17-1, and two switch spring 17-2 lay respectively at the two ends of long ring endoporus, be set with a contact-making switch cap 17-5 on each switch spring 17-2, contact-making switch cover 17-6 is enclosed within two contact-making switch cap 17-5, conduct electricity the outside of long semi-ring 17-3 and two conduction 1/2nd long semi-ring 17-4, and the bottom face of contact-making switch cover 17-6 contacts with the upper surface of switch supporting seat 17-1, be laid with six switch module mounting groove 6-1-2 on the upper surface of cam orientation ring 6-1 on the cam positioning apparatus 6, a redundant plane sense switch assembly 17 is housed among each switch module mounting groove 6-1-2.When dragging when finishing, the lower surface of catching interface board 1-1 of catching on the interface arrangement 1 begins to touch contact-making switch cap 17-5 top, making has plus load Fa effect on the contact-making switch cap 17-5, under the effect of load Fa, contact-making switch cap 17-5 moves down, the closed circuit conducting that two conduction 1/4th semi-ring 17-4 and the long semi-ring 17-3 that conducts electricity constitute, finish when catching, and drag when not beginning, the lower surface of catching interface board 1-1 of catching on the interface arrangement 1 only contacts single contact-making switch cap 17-5, the closed circuit that two conduction 1/4th semi-ring 17-4 and the long semi-ring 17-3 that conducts electricity do not constitute, do not have signal output, therefore, rejected effectively owing to disturb the error signal that causes.Switch spring 17-2 plays the effect of the contact-making switch cap 17-5 that resets.Contact-making switch cover 17-6 shields.Switch supporting seat 17-1 plays a supportive role.Utilize the checkout equipment of six redundant plane sense switch assemblies 17, effectively rejected wrong position and unbalance loading signal as plane contact.Other composition and annexation are identical with the specific embodiment eight.

The specific embodiment ten: in conjunction with Figure 10 and Figure 14 present embodiment is described, present embodiment and the specific embodiment nine are different is that it also increases camera 18 is arranged, and camera 18 is installed on the lateral wall of support cylinder 4 by connector.The assembly of acquisition equipment 2, actuator 3, support cylinder 4 and manipulator flange 5 is under the drive of mechanical arm 11 during load cabin 10, convergence space, and camera 18 can correctly guide catches interface arrangement 1 on the load cabin, mechanical arm 11 convergence space 10.Other composition and annexation are identical with the specific embodiment nine.

Operation principle of the present invention: see Figure 26, at first the assembly with the acquisition equipment on the electrical connection integrated mechanism for locking space of the present invention 2, actuator 3, support cylinder 4, manipulator flange 5 and four locking mechanisms 7 is installed on the output of mechanical arm 11, the stiff end of mechanical arm 11 is installed on the space work chamber 12, catches interface arrangement 1 and is installed on the load cabin, space 10.Catch principle: said modules convergence under the drive of mechanical arm 11 is caught interface arrangement 1, on catching interface arrangement 1 catching awl 1-2 enter on the acquisition equipment 2 catch support tube 2-12 inner chamber the time, at first implement to catch.When catching, start the second dc brushless motor 2-1, driving pinion 2-3 by second harmonic decelerator 2-2 rotates, catching torque sensor 2-5 by internal gear 2-4 drive rotates, catching torque sensor 2-5 driven rotary ring 2-9 rotates, three steel wire rope 2-10 clamp at the awl 1-2 that catches that will catch under the drive of rotating ring 2-9 on the interface arrangement 1, promptly finish the space and catch, and see Figure 20.Drag principle: start the first dc brushless motor 3-1, driving driving gear 3-3 by first harmonic decelerator 3-2 rotates, driving ball-screw 3-5 by driven gear 3-4 rotates, ball nut 3-7 moves down along ball-screw 3-5, the support tube 2-12 that catches that drives on the acquisition equipment 2 by drawing torque sensor 3-9 moves down, catch that linear bearing 3-11-1 and following linear bearing 3-11-2 move down along guide rail 3-11-5 in the support tube 2-12 drive, promptly finish the space and drag, see Figure 21 and Figure 22.With a locking mechanism 7 explanation locking be electrically connected principle: finish the space catch drag with the space after, starting the 3rd dc brushless motor 14 is just changeing, driving driven wheel 9 by third harmonic decelerator 13 rotates, rotate by the external tooth 7-4-2-1 on the gear wheel 8 driven gear axle 7-4-2, gear shaft 7-4-2 drives feed screw nut 7-4-1 and rotates, leading screw 7-3 moves up along linear bearing 7-2, leading screw 7-3 drives receptacle holders supporter 7-5 simultaneously and moves up, electrical outlets frame 7-7 moves up thereupon, two first pulley 7-10 drive two lock pawl 7-16 and move up, (because two the 5th pulley 7-16-7 are the side end face 7-1-6 scroll-up/down along straight support body 7-1), two lock pawl 7-16 drive locking torque sensor 7-12 by each self-corresponding riser 7-14 respectively, guide rod 7-11 and buffering spring 7-13 are upwards, two the 3rd pulley 7-16-3 on each lock pawl 7-16 enter corresponding with it lock slots 1-1-1 that catches on the interface board 1-1, see Figure 24, at this moment, the following end in contact of the 5th pulley 7-16-7 and inclined-plane 7-1-5, the upper surface of guide rod 7-11 contacts with the lower surface of straight support body 7-1, and guide rod 7-11 compresses buffer spring 7-13; When the 5th pulley 7-16-7 walks top to inclined-plane 7-1-5, lock pawl 7-16 is the axle center with the second bearing pin 7-15, dewclaw 7-16-1 outwards opens, lower claw 7-16-2 inwardly receives, dewclaw 7-16-1 is stuck among the lock slots 1-1-1 that catches on the interface board 1-1, simultaneously electrical outlets 7-8 is connected with electric connector 16 in being installed in lock slots 1-1-1, sees Figure 25, promptly locks and is electrically connected synchronously and finish.14 counter-rotatings of the 3rd dc brushless motor, locking mechanism 7 returns to the home position, sees Figure 23.

Claims

1. electrical connection integrated mechanism for locking space, described mechanism comprises and catches interface arrangement (1), acquisition equipment (2), actuator (3), support cylinder (4), manipulator flange (5) and cam positioning apparatus (6), described actuator (3), cam orientation ring (6-1) on acquisition equipment (2) and the cam positioning apparatus (6) is successively set in the inner chamber of support cylinder (4) from the bottom to top, manipulator flange (5) is connected with the lower surface of support cylinder (4), catch interface arrangement (1) and be positioned at the top of the cam orientation ring (6-1) on the cam positioning apparatus (6), and three steel wire ropes (2-10) on the acquisition equipment (2) contact with the awl (1-2) of catching on catching interface arrangement (1), being installed in the positioning cam (6-2) of catching on the interface arrangement (1) is arranged in the locating slot (6-1-1) on the cam orientation ring (6-1), it is characterized in that: described mechanism also comprises four locking mechanisms (7), gear wheel (8), driven wheel (9), third harmonic decelerator (13), the 3rd dc brushless motor (14), the 3rd electromagnetic brake (15) and four electric connectors (16), four locking mechanisms (7) are distributed on outside the support cylinder (4), and the arc surface (7-1-1) on the supporter (7-1) on each locking mechanism (7) is affixed with the upper end lateral wall of support cylinder (4), gear wheel (8) is packed in the lower end of support cylinder (4), and gear wheel (8) simultaneously with four locking mechanisms (7) on external tooth (7-4-2-1) and driven wheel (9) mesh, driven wheel (9) is arranged on the output of third harmonic decelerator (13), the input of third harmonic decelerator (13) is connected with the output of the 3rd dc brushless motor (14), the 3rd electromagnetic brake (15) is arranged on the input of the 3rd dc brushless motor (14), the 3rd dc brushless motor (14) is packed on the lateral wall of support cylinder (4), catches in each lock slots (1-1-1) on the interface arrangement (1) electric connector (16) is housed.

2. according to the described electrical connection integrated mechanism for locking space of claim 1, it is characterized in that: described each locking mechanism (7) is by supporter (7-1), linear bearing (7-2), leading screw (7-3), leading screw drives assembly (7-4), receptacle holders supporter (7-5), clamp nut (7-6), electrical outlets frame (7-7), electrical outlets (7-8), two first bearing pins (7-9), two first pulleys (7-10), guide rod (7-11), locking torque sensor (7-12), buffer spring (7-13), two risers (7-14), two second bearing pins (7-15), two lock pawls (7-16), two the 3rd bearing pins, two the 3rd pulleys, two back-moving springs (7-19), two the 6th bearing pins (7-20), second linear potentiometers (7-21) and linear potentiometers brush (7-22) are formed, supporter (7-1) and support cylinder (4) opposing end faces are provided with the corresponding to arc surface of external diameter (7-1-1) with support cylinder (4), arc surface (7-1-1) outside on the supporter (7-1) is provided with flange (7-1-2), the upper surface of flange (7-1-2) is provided with groove (7-1-3), the upper surface of the flange sidewall of groove (7-1-3) both sides is provided with inclined-plane (7-1-5), the both sides end face of flange (7-1-2) is provided with guide-track groove (7-1-4), the bottom face of groove (7-1-3) is provided with linear bearing hole (7-1-5), linear bearing (7-2) is arranged in the linear bearing hole (7-1-5), leading screw (7-3) is arranged in the centre bore on the linear bearing (7-2), the centre bore that receptacle holders supporter (7-5) is passed in the upper end of leading screw (7-3) is threaded with clamp nut (7-6), the lower end of the upper end of receptacle holders supporter (7-5) and electrical outlets frame (7-7) is affixed, the upper surface of electrical outlets frame (7-7) is provided with electrical outlets groove (7-7-1), electrical outlets (7-8) is installed in the electrical outlets groove (7-7-1), the two ends of electrical outlets frame (7-7) are respectively equipped with first pin shaft hole (7-7-2), in each first pin shaft hole (7-7-2) one first bearing pin (7-9) is housed, on each first bearing pin (7-9) one first pulley (7-10) is housed, guide rod (7-11) is sleeved on the middle part of leading screw (7-3), the lower end of guide rod (7-11) is arranged in the centre bore on the locking torque sensor (7-12), buffer spring (7-13) is sleeved on the guide rod (7-11), the upper end of each riser (7-14) is provided with second pin shaft hole (7-14-1), the riser (7-14) of second pin shaft hole (7-14-1) below is provided with the 6th pin shaft hole (7-14-2), the riser (7-14) that is positioned at the 6th pin shaft hole (7-14-2) below is provided with guide rail (7-14-3), two risers (7-14) are symmetricly set on the both sides of supporter (7-1), and the guide rail (7-14-3) on the riser (7-14) is arranged in the guide-track groove (7-1-4) on the supporter corresponding with it (7-1), guide rail (7-14-3) slides up and down along guide-track groove (7-1-4), the lower surface of each riser (7-14) is connected with the upper surface of locking torque sensor (7-12), two lock pawls (7-16) are symmetrical arranged, and second pin shaft hole (7-16-2-3) on each lock pawl (7-16) is connected by one second bearing pin (7-15) with second pin shaft hole (7-14-1) on the riser (7-14), the 4th bearing pin (7-16-5) below on each lock pawl (7-16) is furnished with a back-moving spring (7-19), and the upper end of each back-moving spring (7-19) four bearing pin (7-16-5) corresponding with it connects, the lower end of each back-moving spring (7-19) six bearing pin (7-20) corresponding with it connects, the lower end of leading screw (7-3) is arranged on leading screw and drives in the assembly (7-4), and leading screw (7-3) is threaded with the feed screw nut (7-4-1) that leading screw drives on the assembly (7-4), second linear potentiometers (7-21) is arranged in the groove (7-1-3), and second linear potentiometers (7-21) is packed on the supporter (7-1), linear potentiometers brush (7-22) is arranged between second linear potentiometers (7-21) and the receptacle holders supporter (7-5), and linear potentiometers brush (7-22) is packed on the receptacle holders supporter (7-5), brush second linear potentiometers (7-21) contact of linear potentiometers brush (7-22).

3. according to the described electrical connection integrated mechanism for locking space of claim 2, it is characterized in that: described each lock pawl (7-16) is by dewclaw (7-16-1), two lower claws (7-16-2), the 3rd pulley (7-16-3), the 3rd bearing pin (7-16-4), the 4th bearing pin (7-16-5), two the 5th bearing pins (7-16-6) and two the 5th pulleys (7-16-7) are formed, the lower end of each lower claw (7-16-2) is provided with the 5th pin shaft hole (7-16-2-1), each lower claw (7-16-2) below is provided with the 5th pulley groove (7-16-2-2), the upper end of each lower claw (7-16-2) is provided with second pin shaft hole (7-16-2-3), two lower claws (7-16-2) are set in parallel in the below of dewclaw (7-16-1), and second pin shaft hole (7-16-2-3) on two lower claws (7-16-2) over against, the 5th pin shaft hole (7-16-2-1) on two lower claws (7-16-2) over against, dewclaw (7-16-1) is made one with two lower claws (7-16-2), the 5th pulley groove (7-16-2-2) of each lower claw (7-16-2) locates to be provided with one the 5th pulley (7-16-7), each the 5th pulley (7-16-7) is contained on the 5th bearing pin (7-16-6) corresponding with it, the two ends of the 5th bearing pin (7-16-6) are arranged in the 5th pin shaft hole (7-16-2-1) corresponding with it, dewclaw (7-16-1) is gone up a side end face relative with first pulley (7-10) and is provided with and corresponding to first pulley groove of the wheel cambered surface of first pulley (7-10) (7-16-1-1), the upper end of dewclaw (7-16-1) is provided with the 3rd pulley groove (7-16-1-2), be respectively equipped with the 3rd pin shaft hole (7-16-1-3) on the dewclaw (7-16-1) of the 3rd pulley groove (7-16-1-2) both sides, the 3rd pulley (7-16-3) is contained on the 3rd bearing pin (7-16-4), the two ends of the 3rd bearing pin (7-16-4) are separately positioned in the 3rd pin shaft hole (7-16-1-3) of the 3rd pulley groove (7-16-1-2) both sides, the lower end of dewclaw (7-16-1) is provided with open slot (7-16-1-4), be respectively equipped with the 4th pin shaft hole (7-16-1-5) on the dewclaw (7-16-1) of open slot (7-16-1-4) both sides, the two ends of the 4th bearing pin (7-16-5) are separately positioned in the 4th pin shaft hole (7-16-1-5) of open slot (7-16-1-4) both sides.

4. according to claim 2 or 3 described electrical connection integrated mechanism for locking space, it is characterized in that: described leading screw drives assembly (7-4) and is made up of feed screw nut (7-4-1), gear shaft (7-4-2) and shell (7-4-3), gear shaft (7-4-2) is positioned at the below of feed screw nut (7-4-1), and gear shaft (7-4-2) is affixed with feed screw nut (7-4-1), gear shaft (7-4-2) is provided with external tooth (7-4-2-1), and the assembly of gear shaft (7-4-2) and feed screw nut (7-4-1) is arranged in the shell (7-4-3).

5. according to the described electrical connection integrated mechanism for locking space of claim 4, it is characterized in that: the described interface arrangement (1) of catching is by catching interface board (1-1), catch awl (1-2), catch flange (1-3), catching guiding lamp (1-4) and three connecting pins (1-5) forms, the upper end of catching awl (1-2) with catch flange (1-3) and be connected, catch flange (1-3) and be vertically set on the lower end of catching interface board (1-1) with the assembly of catching awl (1-2), and it is affixed with the lower surface of catching interface board (1-1) to catch flange (1-3), catch guiding lamp (1-4) and be installed on the lower end of catching awl (1-2), at least three connecting pins (1-5) are uniform to be arranged on the upper surface of catching interface board (1-1), catch on the lower surface of interface board (1-1) and be laid with four lock slots (1-1-1), and four lock slots (1-1-1) and four locking mechanisms (7) one by one over against.

6. according to the described electrical connection integrated mechanism for locking space of claim 5; It is characterized in that: described acquisition equipment (2) is by second dc brushless motor (2-1); Second harmonic decelerator (2-2); Pinion (2-3); Internal gear (2-4); Catch torque sensor (2-5); Thin-wall bearing (2-6); Connecting ring (2-7); Retainer ring (2-8); Rotating ring (2-9); Three steel wire ropes (2-10); Rotating shaft (2-11); Catch support tube (2-12); Second electromagnetic brake (2-13) and connecting cylinder (2-20) form; Second electromagnetic brake (2-13) is arranged on the input of second dc brushless motor (2-1); The input of second harmonic decelerator (2-2) is connected with the output of second dc brushless motor (2-1); Second dc brushless motor (2-1) and second harmonic decelerator (2-2) are arranged on the bottom of catching support tube (2-12) inner chamber; And second dc brushless motor (2-1) is packed on the inwall of catching support tube (2-12); Firm wheel on the second harmonic decelerator (2-2) is affixed with the sidewall of catching support tube (2-12); Pinion (2-3) is installed on the output of second harmonic deceleration (2-2); Pinion (2-3) and internal gear (2-4) engagement; The upper surface of internal gear (2-4) is affixed with the lower surface of catching torque sensor (2-5); The upper end of catching torque sensor (2-5) is arranged in the interior ring centre bore on the thin-wall bearing (2-6); Outer shroud on the thin-wall bearing (2-6) is arranged in the centre bore of connecting ring (2-7); The upper surface of connecting ring (2-7) and retainer ring (2-8) are affixed; The assembly of connecting ring (2-7) and retainer ring (2-8) is arranged on the top of catching support tube (2-12) inner chamber; And connecting ring (2-7) is with to catch support tube (2-12) sidewall affixed; The lower surface of retainer ring (2-8) is provided with rotating ring mounting groove (2-8-1); Rotating ring (2-9) is housed in the rotating ring mounting groove (2-8-1); And the lower end of rotating ring (2-9) is affixed with the upper surface of catching torque sensor (2-5); Three steel wire ropes (2-10) are distributed in the inner chamber of retainer ring (2-8) and rotating ring (2-9); And the inwall of an end of every steel wire rope (2-10) and retainer ring (2-8) is affixed; The other end of every steel wire rope (2-10) is connected with rotating ring (2-9) by rotating shaft (2-11); The cone (1-2) of catching of catching on the interface arrangement (1) is connected with three steel wire ropes (2-10), and connecting cylinder (2-20) is connected with the lower surface of catching torque sensor (2-5).

7. according to the described electrical connection integrated mechanism for locking space of claim 6, it is characterized in that: described actuator (3) is by first dc brushless motor (3-1), first harmonic decelerator (3-2), driving gear (3-3), driven gear (3-4), ball-screw (3-5), leading screw flange (3-6), ball nut (3-7), compression spring (3-8), drawing torque sensor (3-9), first electromagnetic brake (3-10), three guide assemblies (3-11) and linear potentiometers (3-12) are formed, first electromagnetic brake (3-10) is arranged on the input of first dc brushless motor (3-1), the input of first harmonic decelerator (3-2) is connected with the output of first dc brushless motor (3-1), first dc brushless motor (3-1) is packed on the inwall of support cylinder (4), firm wheel on the first harmonic decelerator (3-2) is connected with first dc brushless motor (3-1) lower end, driving gear (3-3) is installed on the output of first harmonic decelerator (3-2), driving gear (3-3) and driven gear (3-4) engagement, driven gear (3-4) is installed on the input of ball-screw (3-5), the lower end of ball-screw (3-5) is arranged in the leading screw flange (3-6), leading screw flange (3-6) is connected with the inwall of support cylinder (4), ball nut (3-7) is threaded with ball-screw (3-5), compression spring (3-8) is sleeved on the ball nut (3-7), strain beam support tube (3-9-1) on the drawing torque sensor (3-9) is sleeved on the compression spring (3-8), and the strain beam support tube (3-9-1) on the drawing torque sensor (3-9) is connected with ball nut (3-7), the upper end of ball-screw (3-5) is connected with connecting cylinder (2-20) on the acquisition equipment (2), the outside end face of three strain beams (3-9-2) on the drawing torque sensor (3-9) is connected with the inwall of catching support tube (2-12) on the acquisition equipment (2), three guide assemblies (3-11) be arranged in parallel with the axis of support cylinder (4), and the uniform outer wall place that catches support tube (2-12) that is arranged on the acquisition equipment (2) of three guide assemblies (3-11), each guide assembly (3-11) is by last linear bearing (3-11-1), following linear bearing (3-11-2), top base (3-11-3), bottom base (3-11-4) and guide rail (3-11-5) are formed, the upper end of guide rail (3-11-5) is passed the centre bore on the linear bearing (3-11-1) and is arranged in the centre bore on the top base (3-11-3), the lower end of guide rail (3-11-5) is passed down the centre bore on the linear bearing (3-11-2) and is arranged in the centre bore on the bottom base (3-11-4), last linear bearing (3-11-1) on each guide assembly (3-11) and following linear bearing (3-11-2) are connected with the outer wall of catching support tube (2-12) on the acquisition equipment (2) respectively, top base (3-11-3) on each guide assembly (3-11) is connected with the inwall of support cylinder (4) respectively with bottom base (3-11-4), drawing torque sensor (3-9) is by strain beam support tube (3-9-1), three strain beams (3-9-2) and three full-bridge foil gauges (3-9-3) are formed, three strain beams (3-9-2) are uniform to be arranged on the external diameter of strain beam support tube (3-9-1), be pasted with a full-bridge foil gauge (3-9-3) on the upper surface of three strain beams (3-9-2), linear potentiometers (3-12) is packed on the outer wall of catching support tube (2-12) on the acquisition equipment (2).

8. according to the described electrical connection integrated mechanism for locking space of claim 7, it is characterized in that: described cam positioning apparatus (6) is made up of cam orientation ring (6-1) and three positioning cams (6-2), be laid with three locating slots (6-1-1) on the end face of cam orientation ring (6-1), be furnished with a positioning cam (6-2) in each locating slot (6-1-1), the root of each positioning cam (6-2) is packed in catches catching on the flange (1-3) on the interface arrangement (1).

9. described according to Claim 8 electrical connection integrated mechanism for locking space, it is characterized in that: described electrical connection integrated mechanism for locking space also comprises six redundant plane sense switch assemblies (17), described redundant plane sense switch assembly (17) is by switch supporting seat (17-1), two switch springs (17-2), conduct electricity long semi-ring (17-3), two conduction 1/2nd long semi-rings (17-4), two contact-making switch caps (17-5) and contact-making switch cover (17-6) are formed, two conduction 1/2nd long semi-rings (17-4) are symmetrical arranged and form length with the long semi-ring of conduction (17-3) and encircle, (17-2 is vertically set on respectively on the upper surface of switch supporting seat (17-1) two switch springs, and two switch springs (17-2) lay respectively at the two ends of long ring endoporus, be set with a contact-making switch cap (17-5) on each switch spring (17-2), contact-making switch cover (17-6) is enclosed within two contact-making switch caps (17-5), conduct electricity the outside of long semi-ring (17-3) and two conduction 1/2nd long semi-rings (17-4), and the bottom face of contact-making switch cover (17-6) contacts with the upper surface of switch supporting seat (17-1), be laid with six switch module mounting grooves (6-1-2) on the upper surface of the cam orientation ring (6-1) on the cam positioning apparatus (6), in each switch module mounting groove (6-1-2) a redundant plane sense switch assembly (17) be housed.

10. according to the described electrical connection integrated mechanism for locking space of claim 9, it is characterized in that: described electrical connection integrated mechanism for locking space also comprises camera (18), and camera (18) is installed on the lateral wall of support cylinder (4) by connector.